OpenRaiser/Intern-Atlas huggingface dataset:
Monocular 3D lane detection for Autonomous Driving: Recent Achievements, Challenges, and Outlooks
Venue: arXiv cs.CV 2024
Year: 2024

3D lane detection is essential in autonomous driving as it extracts structural and traffic information from the road in three-dimensional space, aiding self-driving cars in logical, safe, and comfortable path planning and motion control. Given the cost of sensors and the advantages of visual data in color information, 3D lane detection based on monocular vision is an important research direction in the realm of autonomous driving, increasingly gaining attention in both industry and academia. Regrettably, recent advancements in visual perception seem inadequate for the development of fully reliable 3D lane detection algorithms, which also hampers the progress of vision-based fully autonomous vehicles. We believe that there is still considerable room for improvement in 3D lane detection algorithms for autonomous vehicles using visual sensors, and significant enhancements are needed. This review looks back and analyzes the current state of achievements in the field of 3D lane detection research. It covers all current monocular-based 3D lane detection processes, discusses the performance of these cutting-edge algorithms, analyzes the time complexity of various algorithms, and highlights the main achievements and limitations of ongoing research efforts. The survey also includes a comprehensive discussion of available 3D lane detection datasets and the challenges that researchers face but have not yet resolved. Finally, our work outlines future research directions and invites researchers and practitioners to join this exciting field.
PACP: Priority-Aware Collaborative Perception for Connected and Autonomous Vehicles
Venue: arXiv cs.NI 2024
Year: 2024

Surrounding perceptions are quintessential for safe driving for connected and autonomous vehicles (CAVs), where the Bird's Eye View has been employed to accurately capture spatial relationships among vehicles. However, severe inherent limitations of BEV, like blind spots, have been identified. Collaborative perception has emerged as an effective solution to overcoming these limitations through data fusion from multiple views of surrounding vehicles. While most existing collaborative perception strategies adopt a fully connected graph predicated on fairness in transmissions, they often neglect the varying importance of individual vehicles due to channel variations and perception redundancy. To address these challenges, we propose a novel Priority-Aware Collaborative Perception (PACP) framework to employ a BEV-match mechanism to determine the priority levels based on the correlation between nearby CAVs and the ego vehicle for perception. By leveraging submodular optimization, we find near-optimal transmission rates, link connectivity, and compression metrics. Moreover, we deploy a deep learning-based adaptive autoencoder to modulate the image reconstruction quality under dynamic channel conditions. Finally, we conduct extensive studies and demonstrate that our scheme significantly outperforms the state-of-the-art schemes by 8.27\% and 13.60\%, respectively, in terms of utility and precision of the Intersection over Union.
SparseAD: Sparse Query-Centric Paradigm for Efficient End-to-End Autonomous Driving
Venue: arXiv cs.CV 2024
Year: 2024

End-to-End paradigms use a unified framework to implement multi-tasks in an autonomous driving system. Despite simplicity and clarity, the performance of end-to-end autonomous driving methods on sub-tasks is still far behind the single-task methods. Meanwhile, the widely used dense BEV features in previous end-to-end methods make it costly to extend to more modalities or tasks. In this paper, we propose a Sparse query-centric paradigm for end-to-end Autonomous Driving (SparseAD), where the sparse queries completely represent the whole driving scenario across space, time and tasks without any dense BEV representation. Concretely, we design a unified sparse architecture for perception tasks including detection, tracking, and online mapping. Moreover, we revisit motion prediction and planning, and devise a more justifiable motion planner framework. On the challenging nuScenes dataset, SparseAD achieves SOTA full-task performance among end-to-end methods and significantly narrows the performance gap between end-to-end paradigms and single-task methods. Codes will be released soon.
MetaCheckGPT -- A Multi-task Hallucination Detector Using LLM Uncertainty and Meta-models
Venue: arXiv cs.CL 2024
Year: 2024

Hallucinations in large language models (LLMs) have recently become a significant problem. A recent effort in this direction is a shared task at Semeval 2024 Task 6, SHROOM, a Shared-task on Hallucinations and Related Observable Overgeneration Mistakes. This paper describes our winning solution ranked 1st and 2nd in the 2 sub-tasks of model agnostic and model aware tracks respectively. We propose a meta-regressor framework of LLMs for model evaluation and integration that achieves the highest scores on the leaderboard. We also experiment with various transformer-based models and black box methods like ChatGPT, Vectara, and others. In addition, we perform an error analysis comparing GPT4 against our best model which shows the limitations of the former.
TrajPRed: Trajectory Prediction with Region-based Relation Learning
Venue: arXiv cs.CV 2024
Year: 2024

Forecasting human trajectories in traffic scenes is critical for safety within mixed or fully autonomous systems. Human future trajectories are driven by two major stimuli, social interactions, and stochastic goals. Thus, reliable forecasting needs to capture these two stimuli. Edge-based relation modeling represents social interactions using pairwise correlations from precise individual states. Nevertheless, edge-based relations can be vulnerable under perturbations. To alleviate these issues, we propose a region-based relation learning paradigm that models social interactions via region-wise dynamics of joint states, i.e., the changes in the density of crowds. In particular, region-wise agent joint information is encoded within convolutional feature grids. Social relations are modeled by relating the temporal changes of local joint information from a global perspective. We show that region-based relations are less susceptible to perturbations. In order to account for the stochastic individual goals, we exploit a conditional variational autoencoder to realize multi-goal estimation and diverse future prediction. Specifically, we perform variational inference via the latent distribution, which is conditioned on the correlation between input states and associated target goals. Sampling from the latent distribution enables the framework to reliably capture the stochastic behavior in test data. We integrate multi-goal estimation and region-based relation learning to model the two stimuli, social interactions, and stochastic goals, in a prediction framework. We evaluate our framework on the ETH-UCY dataset and Stanford Drone Dataset (SDD). We show that the diverse prediction better fits the ground truth when incorporating the relation module. Our framework outperforms the state-of-the-art models on SDD by $27.61\%$/$18.20\%$ of ADE/FDE metrics.
Toward industrial use of continual learning : new metrics proposal for class incremental learning
Venue: arXiv cs.LG 2024
Year: 2024

In this paper, we investigate continual learning performance metrics used in class incremental learning strategies for continual learning (CL) using some high performing methods. We investigate especially mean task accuracy. First, we show that it lacks of expressiveness through some simple experiments to capture performance. We show that monitoring average tasks performance is over optimistic and can lead to misleading conclusions for future real life industrial uses. Then, we propose first a simple metric, Minimal Incremental Class Accuracy (MICA) which gives a fair and more useful evaluation of different continual learning methods. Moreover, in order to provide a simple way to easily compare different methods performance in continual learning, we derive another single scalar metric that take into account the learning performance variation as well as our newly introduced metric.
Embedding Economic Incentives in Social Networks Shape the Diffusion of Digital Technological Innovation
Venue: arXiv cs.SI 2024
Year: 2024

The digital innovation accompanied by explicit economic incentives have fundamentally changed the process of innovation diffusion. As a representative of digital innovation, NFTs provide a decentralized and secure way to authenticate and trade digital assets, offering the potential for new revenue streams in the digital space. However, current researches about NFTs mainly focus on their transaction networks and community culture, leaving the interplay among diffusion dynamics, economic dynamics, and social constraints on Twitter. By collecting and analyzing NFTs-related tweet dataset, the motivations of retweeters, the information mechanisms behind emojis, and the networked-based diffusion dynamics is systematically investigated. Results indicate that Retweeting is fueled by Freemint and trading information, with the higher economic incentives as a major motivation and some potential organizational tendencies. The diffusion of NFT is primarily driven by a 'Ringed-layered' information mechanism involving individual promoters and speculators. Both the frequency and presentation of content contribute positively to the growth of the retweet network. This study contributes to the innovation diffusion theory with economic incentives embedded.
Deep Reinforcement Learning for Mobile Robot Path Planning
Venue: arXiv cs.RO 2024
Year: 2024

Path planning is an important problem with the the applications in many aspects, such as video games, robotics etc. This paper proposes a novel method to address the problem of Deep Reinforcement Learning (DRL) based path planning for a mobile robot. We design DRL-based algorithms, including reward functions, and parameter optimization, to avoid time-consuming work in a 2D environment. We also designed an Two-way search hybrid A* algorithm to improve the quality of local path planning. We transferred the designed algorithm to a simple embedded environment to test the computational load of the algorithm when running on a mobile robot. Experiments show that when deployed on a robot platform, the DRL-based algorithm in this article can achieve better planning results and consume less computing resources.
Accurate Tennis Court Line Detection on Amateur Recorded Matches
Venue: arXiv cs.CV 2024
Year: 2024

Typically, tennis court line detection is done by running Hough-Line-Detection to find straight lines in the image, and then computing a transformation matrix from the detected lines to create the final court structure. We propose numerous improvements and enhancements to this algorithm, including using pretrained State-of-the-Art shadow-removal and object-detection ML models to make our line-detection more robust. Compared to the original algorithm, our method can accurately detect lines on amateur, dirty courts. When combined with a robust ball-tracking system, our method will enable accurate, automatic refereeing for amateur and professional tennis matches alike.
Knowledge graphs for empirical concept retrieval
Venue: arXiv cs.LG 2024
Year: 2024

Concept-based explainable AI is promising as a tool to improve the understanding of complex models at the premises of a given user, viz.\ as a tool for personalized explainability. An important class of concept-based explainability methods is constructed with empirically defined concepts, indirectly defined through a set of positive and negative examples, as in the TCAV approach (Kim et al., 2018). While it is appealing to the user to avoid formal definitions of concepts and their operationalization, it can be challenging to establish relevant concept datasets. Here, we address this challenge using general knowledge graphs (such as, e.g., Wikidata or WordNet) for comprehensive concept definition and present a workflow for user-driven data collection in both text and image domains. The concepts derived from knowledge graphs are defined interactively, providing an opportunity for personalization and ensuring that the concepts reflect the user's intentions. We test the retrieved concept datasets on two concept-based explainability methods, namely concept activation vectors (CAVs) and concept activation regions (CARs) (Crabbe and van der Schaar, 2022). We show that CAVs and CARs based on these empirical concept datasets provide robust and accurate explanations. Importantly, we also find good alignment between the models' representations of concepts and the structure of knowledge graphs, i.e., human representations. This supports our conclusion that knowledge graph-based concepts are relevant for XAI.
On the Performance of IRS-Assisted SSK and RPM over Rician Fading Channels
Venue: arXiv cs.IT 2024
Year: 2024

This paper presents the index modulation, that is, the space-shift keying (SSK) and reflection phase modulation (RPM) schemes for intelligent reflecting surface (IRS)-assisted wireless network. IRS simultaneously reflects the incoming information signal from the base station and explicitly encodes the local information bits in the reflection phase shift of IRS elements. The phase shift of the IRS elements is employed according to local data from the RPM constellation. A joint detection using a maximum-likelihood (ML) decoder is performed for the SSK and RPM symbols over a realistic fading scenario modeled as the Rician fading channel. The pairwise error probability over Rician fading channels is derived and utilized to determine the average bit error rate. In addition, the ergodic capacity of the presented system is derived. The derived analytical results are verified and are in exact agreement with Monte-Carlo simulations.
Comparison of decision trees with Local Interpretable Model-Agnostic Explanations (LIME) technique and multi-linear regression for explaining support vector regression model in terms of root mean square error (RMSE) values
Venue: arXiv cs.LG 2024
Year: 2024

In this work the decision trees are used for explanation of support vector regression model. The decision trees act as a global technique as well as a local technique. They are compared against the popular technique of LIME which is a local explanatory technique and with multi linear regression. It is observed that decision trees give a lower RMSE value when fitted to support vector regression as compared to LIME in 87% of the runs over 5 datasets. The comparison of results is statistically significant. Multi linear regression also gives a lower RMSE value when fitted to support vector regression model as compared to LIME in 73% of the runs over 5 datasets but the comparison of results is not statistically significant. Also, when used as a local explanatory technique, decision trees give better performance than LIME and the comparison of results is statistically significant.
"My toxic trait is thinking I'll remember this": gaps in the learner experience of video tutorials for feature-rich software
Venue: arXiv cs.HC 2024
Year: 2024

Video tutorials are a popular medium for informal and formal learning. However, when learners attempt to view and follow along with these tutorials, they encounter what we call gaps, that is, issues that can prevent learning. We examine the gaps encountered by users of video tutorials for feature-rich software, such as spreadsheets. We develop a theory and taxonomy of such gaps, identifying how they act as barriers to learning, by collecting and analyzing 360 viewer comments from 90 Microsoft Excel video tutorials published by 43 creators across YouTube, TikTok, and Instagram. We conducted contextual interviews with 8 highly influential tutorial creators to investigate the gaps their viewers experience and how they address them. Further, we obtain insights into their creative process and frustrations when creating video tutorials. Finally, we present creators with two designs that aim to address gaps identified in the comment analysis for feedback and alternative design ideas.
How Consistent are Clinicians? Evaluating the Predictability of Sepsis Disease Progression with Dynamics Models
Venue: arXiv cs.LG 2024
Year: 2024

Reinforcement learning (RL) is a promising approach to generate treatment policies for sepsis patients in intensive care. While retrospective evaluation metrics show decreased mortality when these policies are followed, studies with clinicians suggest their recommendations are often spurious. We propose that these shortcomings may be due to lack of diversity in observed actions and outcomes in the training data, and we construct experiments to investigate the feasibility of predicting sepsis disease severity changes due to clinician actions. Preliminary results suggest incorporating action information does not significantly improve model performance, indicating that clinician actions may not be sufficiently variable to yield measurable effects on disease progression. We discuss the implications of these findings for optimizing sepsis treatment.
Temperature Prediction for Stored Grain: A Multi-model Fusion Approach Based on Machine Learning
Venue: arXiv cs.CE 2024
Year: 2024

Temperature fluctuations significantly affect microorganism growth and pest activities in grain pile, precise monitoring and forecasting temperature of stored grain are essential for maintaining the quality and safety of grain storage. This paper proposes a multi-model fusion approach to predict grain temperature using historical temperature data of stored grain and meteorological data from the region. Firstly, four distinct machine learning models, namely Adaboost, decision tree, extra trees, and random forest, are fine-tuned through parameter optimization to enhance their predictive capabilities respectively; Subsequently, these optimized models are fused to form different ensemble models, which are compared for predidction accuracy to obtain the optimal fusion model. In essence, the fusion process integrates the predictions of each individual model as new feature inputs into the fusion models. Furthermore, random forest is utilized to identify the key factors influencing grain temperature, providing insights into the importance of different influencing factors. The experimental results demonstrate that the proposed fusion models can achieve higher prediction accuracy and robustness compared with the single-model prediction methods. Additionally, the analysis of feature importance also offers empirical evidence for understanding the factors influencing grain temperature.
Toward a Better Understanding of Fourier Neural Operators from a Spectral Perspective
Venue: arXiv cs.LG 2024
Year: 2024

In solving partial differential equations (PDEs), Fourier Neural Operators (FNOs) have exhibited notable effectiveness. However, FNO is observed to be ineffective with large Fourier kernels that parameterize more frequencies. Current solutions rely on setting small kernels, restricting FNO's ability to capture complex PDE data in real-world applications. This paper offers empirical insights into FNO's difficulty with large kernels through spectral analysis: FNO exhibits a unique Fourier parameterization bias, excelling at learning dominant frequencies in target data while struggling with non-dominant frequencies. To mitigate such a bias, we propose SpecB-FNO to enhance the capture of non-dominant frequencies by adopting additional residual modules to learn from the previous ones' prediction residuals iteratively. By effectively utilizing large Fourier kernels, SpecB-FNO achieves better prediction accuracy on diverse PDE applications, with an average improvement of 50%.
Personality-affected Emotion Generation in Dialog Systems
Venue: arXiv cs.CL 2024
Year: 2024

Generating appropriate emotions for responses is essential for dialog systems to provide human-like interaction in various application scenarios. Most previous dialog systems tried to achieve this goal by learning empathetic manners from anonymous conversational data. However, emotional responses generated by those methods may be inconsistent, which will decrease user engagement and service quality. Psychological findings suggest that the emotional expressions of humans are rooted in personality traits. Therefore, we propose a new task, Personality-affected Emotion Generation, to generate emotion based on the personality given to the dialog system and further investigate a solution through the personality-affected mood transition. Specifically, we first construct a daily dialog dataset, Personality EmotionLines Dataset (PELD), with emotion and personality annotations. Subsequently, we analyze the challenges in this task, i.e., (1) heterogeneously integrating personality and emotional factors and (2) extracting multi-granularity emotional information in the dialog context. Finally, we propose to model the personality as the transition weight by simulating the mood transition process in the dialog system and solve the challenges above. We conduct extensive experiments on PELD for evaluation. Results suggest that by adopting our method, the emotion generation performance is improved by 13% in macro-F1 and 5% in weighted-F1 from the BERT-base model.
Goal-guided Generative Prompt Injection Attack on Large Language Models
Venue: arXiv cs.CR 2024
Year: 2024

Current large language models (LLMs) provide a strong foundation for large-scale user-oriented natural language tasks. A large number of users can easily inject adversarial text or instructions through the user interface, thus causing LLMs model security challenges. Although there is currently a large amount of research on prompt injection attacks, most of these black-box attacks use heuristic strategies. It is unclear how these heuristic strategies relate to the success rate of attacks and thus effectively improve model robustness. To solve this problem, we redefine the goal of the attack: to maximize the KL divergence between the conditional probabilities of the clean text and the adversarial text. Furthermore, we prove that maximizing the KL divergence is equivalent to maximizing the Mahalanobis distance between the embedded representation $x$ and $x'$ of the clean text and the adversarial text when the conditional probability is a Gaussian distribution and gives a quantitative relationship on $x$ and $x'$. Then we designed a simple and effective goal-guided generative prompt injection strategy (G2PIA) to find an injection text that satisfies specific constraints to achieve the optimal attack effect approximately. It is particularly noteworthy that our attack method is a query-free black-box attack method with low computational cost. Experimental results on seven LLM models and four datasets show the effectiveness of our attack method.